Adaptive control of a class of time-varying nonlinear systems via immersion and invariance

doi:10.1177/00368504221124750

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Adaptive control of a class of time-varying nonlinear systems via immersion and invariance
	Liang, Xu 1,3; Su, Tingting 1,3; Liu, Shengda 2; He, Guangping 3
刊名	SCIENCE PROGRESS
	2022-07-01
卷号	105 期号:3 页码:19
关键词	Immersion and invariance adaptive control nonlinear systems time-varying systems nonholonomy
ISSN号	0036-8504
DOI	10.1177/00368504221124750
通讯作者	He, Guangping(hegp55@ncut.edu.cn)
英文摘要	This paper addresses the adaptive control of a class of time-varying nonlinear systems. Under the framework of Immersion and Invariance (I&I) adaptive control, a set of sufficient conditions is obtained to stabilize the concerned time-varying nonlinear systems. It is shown that the presented controller can also be utilized to complete tracking control for a class of nonholonomic constraint systems if the desired trajectories satisfy certain conditions. The effectiveness of the new adaptive controller is demonstrated by some numerical simulations on a nonholonomic mobile robot.
资助项目	National Key R&D Program of China[2019YFB1309603] ; Natural Science Foundation of China[62003005] ; Natural Science Foundation of China[62103007] ; Beijing Natural Science Foundation[L202020] ; R&D Program of Beijing Municipal Education Commission[KM202110009009] ; R&D Program of Beijing Municipal Education Commission[KZ202010009015] ; R&D Program of Beijing Municipal Education Commission[KM202210009010] ; China Postdoctoral Science Foundation[2021M693404] ; Yuyou Talent Support Project of North China University of Technology ; Fundamental Research Funds for Beijing Municipal Universities
WOS关键词	OUTPUT-FEEDBACK CONTROL ; TRACKING CONTROL ; NONHOLONOMIC SYSTEMS ; TRAJECTORY TRACKING ; MECHANICAL SYSTEMS ; MOBILE ROBOTS ; STABILIZATION
WOS研究方向	Education & Educational Research ; Science & Technology - Other Topics
语种	英语
出版者	SAGE PUBLICATIONS LTD
WOS记录号	WOS:000863092600001
资助机构	National Key R&D Program of China ; Natural Science Foundation of China ; Beijing Natural Science Foundation ; R&D Program of Beijing Municipal Education Commission ; China Postdoctoral Science Foundation ; Yuyou Talent Support Project of North China University of Technology ; Fundamental Research Funds for Beijing Municipal Universities
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/50403]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	He, Guangping
作者单位	1.Beijing Univ Technol, Beijing, Peoples R China 2.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China 3.North China Univ Technol, Beijing 100144, Peoples R China
推荐引用方式 GB/T 7714	Liang, Xu,Su, Tingting,Liu, Shengda,et al. Adaptive control of a class of time-varying nonlinear systems via immersion and invariance[J]. SCIENCE PROGRESS,2022,105(3):19.
APA	Liang, Xu,Su, Tingting,Liu, Shengda,&He, Guangping.(2022).Adaptive control of a class of time-varying nonlinear systems via immersion and invariance.SCIENCE PROGRESS,105(3),19.
MLA	Liang, Xu,et al."Adaptive control of a class of time-varying nonlinear systems via immersion and invariance".SCIENCE PROGRESS 105.3(2022):19.